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Add threaded task pool (#674)

* Add threaded task pool

* GCC fix

* Improve documentation on ITaskPool

* Fix race condition

* Add IRHI::initTaskPool + cleanup

Allow thread pool to be reset when no devices are alive.

* Address review

* Cleanup & more asserts

* Minor cleanup

* Move notifies into lock scope for consistency

* Move to memory_order_relaxed for depsRemaining

* Add warning

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